#ifndef TIMER_ROS_H_
#define TIMER_ROS_H_

#include <rclcpp/rclcpp.hpp> 
#include <stdlib.h>

/*������һ�ε�����ʱ��*/
typedef struct 
{
	double _task_get_pbstatus_time;
	// double _task_read_ctrlorder_time;
	// double _board_recv_data_time;
	// double _task_read_pstwo_time;
    double _task_get_battery_time;
	double _task_ret_power_off_time;

}Task_Last_Time_Type;

extern Task_Last_Time_Type Tasklasttime;

extern void Timer_CallBack();
extern double Get_Curtime(void);
extern bool is_Timeout(double* lasttime,uint32_t time);
/*用于线程的延时函数*/
extern int mySleep_ms(float ms);
#endif




